An error occurred when I configured snake-slam

Snake-SLAM-master/External/saiga/tests/test_vision_tsdf.cpp: In member function ‘virtual void Saiga::TSDF_Create_Test::TestBody()’:
Snake-SLAM-master/External/saiga/tests/test_vision_tsdf.cpp:93:52: error: no match for ‘operator=’ (operand types are ‘Saiga::TriangleMesh<Saiga::VertexNC, unsigned int>’ and ‘Saiga::UnifiedMesh’)
93 | test->mesh = test->tsdf->CreateMesh(tris, false);
| ^
In file included from Snake-SLAM-master/External/saiga/src/saiga/core/geometry/all.h:15,
Snake-SLAM-master/External/saiga/src/saiga/core/Core.h:13,
Snake-SLAM-master/External/saiga/tests/test_vision_tsdf.cpp:6:
Snake-SLAM-master/External/saiga/src/saiga/core/geometry/triangle_mesh.h:29:7: note: candidate: ‘Saiga::TriangleMesh<Saiga::VertexNC, unsigned int>& Saiga::TriangleMesh<Saiga::VertexNC, unsigned int>::operator=(const Saiga::TriangleMesh<Saiga::VertexNC, unsigned int>&)’
29 | class TriangleMesh : public Mesh<vertex_t>
| ^~~~~~~~~~~~
Snake-SLAM-master/External/saiga/src/saiga/core/geometry/triangle_mesh.h:29:7: note: no known conversion for argument 1 from ‘Saiga::UnifiedMesh’ to ‘const Saiga::TriangleMesh<Saiga::VertexNC, unsigned int>&’
Snake-SLAM-master/External/saiga/src/saiga/core/geometry/triangle_mesh.h:29:7: note: candidate: ‘Saiga::TriangleMesh<Saiga::VertexNC, unsigned int>& Saiga::TriangleMesh<Saiga::VertexNC, unsigned int>::operator=(Saiga::TriangleMesh<Saiga::VertexNC, unsigned int>&&)’
Snake-SLAM-master/External/saiga/src/saiga/core/geometry/triangle_mesh.h:29:7: note: no known conversion for argument 1 from ‘Saiga::UnifiedMesh’ to ‘Saiga::TriangleMesh<Saiga::VertexNC, unsigned int>&&’

blockReduceSum has a default_value argument, but its not supplied on callsite.

when i use 39b5a8a to make, i meet 3 problem;
First cmake error! In tests/CMakeLists.txt: cmake_policy(SET CMP0104 OLD)
and then, i solve this problem by change this line to:
if(POLICY CMP0104)
cmake_policy(SET CMP0104 OLD)
endif()
second cmake success, but make error: fatal error: sophus/se3.hpp: No such file or directory
18 | # include "sophus/se3.hpp"
then I solve this line by change the code in SophusSelector.h:
// #ifdef SAIGA_SYSTEM_SOPHUS
// # include "sophus/se3.hpp"
// # include "sophus/sim3.hpp"
// #else
#include "External/se3.hpp"
#include "External/sim3.hpp"
// #endif
third i met error:
Snake-SLAM/External/saiga/src/saiga/vision/imu/DecoupledImuSolver.cpp:117:12: error: ‘using PGOSolver = struct Eigen::Recursive::MixedSymmetricRecursiveSolver<Eigen::SparseMatrix<Eigen::Recursive::MatrixScalar<Eigen::Matrix<double, 9, 9> >, 1>, Eigen::Matrix<Eigen::Recursive::MatrixScalar<Eigen::Matrix<double, 9, 1, 0, 9, 1> >, -1, 1> >’ {aka ‘struct Eigen::Recursive::MixedSymmetricRecursiveSolver<Eigen::SparseMatrix<Eigen::Recursive::MatrixScalar<Eigen::Matrix<double, 9, 9> >, 1>, Eigen::Matrix<Eigen::Recursive::MatrixScalar<Eigen::Matrix<double, 9, 1, 0, 9, 1> >, -1, 1> >’} has no member named ‘Init’
117 | solver.Init();
| ^~~~

but i don't know how to solve this problem

@darglein
Thank you very much for your work, I read the snake-slam paper and thought it was great, but when I compile the program, there are various errors, some internal errors, such as in SnakeGlobal.h:
using Vec4f = Saiga::Vec4f;

using Vec3f = Saiga::Vec3f;

using Vec2f = Saiga::Vec2f;
error: no type named 'Vec4f' in namespace 'Saiga'
Next:
inline Intrinsics4& K = mono_intrinsics.model.K;
error: unknown type name 'Intrinsics4'
Intrinsics4 is a file name, but it is used as a definition variable in the program, which is obviously wrong. I changed it to the following:
inline IntrinsicsPinholed& K = mono_intrinsics.model.K;
The program runs normally

In addition to these bugs, there are some bugs in FeatureDetector.h and FeatureDetector.cpp. So I would like to ask, is your program uploading the full version or the correct version?
Had very high expectations for the snake-slam framework because of your paper and seeing your framework in a SenseTime competition, but the bugs did disappoint me a bit，so looking forward to your early reply！

Compiling saiga with Vulkan support and then linking a program against saiga raises the following errors:

1st: cmake error:
Target "agphys" links to target "Vulkan::Vulkan" but the target was not
found. Perhaps a find_package() call is missing for an IMPORTED target, or
an ALIAS target is missing?

2nd: linker error:
/usr/bin/ld: cannot find -lVulkan::Vulkan

version used: a42470a

A current workaround is to disable Vulkan when compiling saiga.

Hi there,

Impressive work! As I have seen that you have been dealing with PGO using ceres along with sophus based Sim3, I was wondering if you had any tips to share here? I have seen that you have turned to the use of DSim3 for PGO, is the use of such decoupled representation enough to make it compliant with ceres's way of computing gradient? Or is it mandatory to modify the gradient computation in ceres to keep it on the lie algebra space and avoid huge gradients?

Thanks!

Example edits for updating to CUDA 12:

Update cuda/pinned_vector.h:
Thrust pinned memory in CUDA 12.0

Update cuda/imageProcessing/scale.cu:
Fix CUDA texture bugs and replace all instances of CUDA texture references with texture objects

There may be an easier way on texture intrisics but I don't know it at the moment.

Other unrelated updates for a newer build on ubuntu mantic:

Update shader/compute/compute_blur.glsl:
but texture2D and texture calls are mixed.

stdint.h is missing in many files.

OS: Debian Buster (x86_64)
Version: 1af9c42

If libbullet-dev is installed compilation will fail:

[ 83%] Building CXX object samples/opengl/simpleBullet/CMakeFiles/opengl_simpleBullet.dir/bulletDebugDrawer.cpp.o
/tmp/saiga/samples/opengl/simpleBullet/bulletDebugDrawer.cpp: In constructor ‘Saiga::GLDebugDrawer::GLDebugDrawer()’:
/tmp/saiga/samples/opengl/simpleBullet/bulletDebugDrawer.cpp:13:32: error: ‘instance’ is not a member of ‘Saiga::ShaderLoader’
     lineShader = ShaderLoader::instance()->load<MVPShader>("geometry/deferred_mvp_model_forward.glsl");
                                ^~~~~~~~
/tmp/saiga/samples/opengl/simpleBullet/bulletDebugDrawer.cpp:13:58: error: expected primary-expression before ‘>’ token
     lineShader = ShaderLoader::instance()->load<MVPShader>("geometry/deferred_mvp_model_forward.glsl");

Removing bullet or forcefully disabling it in the cmake files will make it work again (which I guess isn't the most appropriate long term solution).

When enabling samples in the CMakeLists "DatasetViewer" will not compile:

 97%] Building CXX object samples/vision/datasetViewer/CMakeFiles/vision_datasetViewer.dir/DatasetViewer.cpp.o
/var/tmp/saiga/samples/vision/datasetViewer/DatasetViewer.cpp: In member function ‘virtual void Sample::renderFinal(Saiga::Camera*)’:
/var/tmp/saiga/samples/vision/datasetViewer/DatasetViewer.cpp:142:41: error: ‘EuRoCDataset’ was not declared in this scope
         stereocamera = std::make_unique<EuRoCDataset>(dparams);
                                         ^~~~~~~~~~~~
/var/tmp/saiga/samples/vision/datasetViewer/DatasetViewer.cpp:142:62: error: no matching function for call to ‘make_unique<<expression error> >(Saiga::DatasetParameters&)’
         stereocamera = std::make_unique<EuRoCDataset>(dparams);
                                                              ^
In file included from /usr/include/c++/8/memory:80,
                 from /var/tmp/saiga/src/saiga/core/geometry/triangle_mesh_generator.h:13,
                 from /var/tmp/saiga/samples/vision/datasetViewer/DatasetViewer.h:11,
                 from /var/tmp/saiga/samples/vision/datasetViewer/DatasetViewer.cpp:9:
/usr/include/c++/8/bits/unique_ptr.h:830:5: note: candidate: ‘template<class _Tp, class ... _Args> typename std::_MakeUniq<_Tp>::__single_object std::make_unique(_Args&& ...)’
     make_unique(_Args&&... __args)
     ^~~~~~~~~~~
/usr/include/c++/8/bits/unique_ptr.h:830:5: note:   template argument deduction/substitution failed:
/var/tmp/saiga/samples/vision/datasetViewer/DatasetViewer.cpp:142:62: error: template argument 1 is invalid
         stereocamera = std::make_unique<EuRoCDataset>(dparams);
                                                              ^
In file included from /usr/include/c++/8/memory:80,
                 from /var/tmp/saiga/src/saiga/core/geometry/triangle_mesh_generator.h:13,
                 from /var/tmp/saiga/samples/vision/datasetViewer/DatasetViewer.h:11,
                 from /var/tmp/saiga/samples/vision/datasetViewer/DatasetViewer.cpp:9:
/usr/include/c++/8/bits/unique_ptr.h:836:5: note: candidate: ‘template<class _Tp> typename std::_MakeUniq<_Tp>::__array std::make_unique(std::size_t)’
     make_unique(size_t __num)
     ^~~~~~~~~~~
/usr/include/c++/8/bits/unique_ptr.h:836:5: note:   template argument deduction/substitution failed:
/var/tmp/saiga/samples/vision/datasetViewer/DatasetViewer.cpp:142:62: error: template argument 1 is invalid
         stereocamera = std::make_unique<EuRoCDataset>(dparams);
                                                              ^
In file included from /usr/include/c++/8/memory:80,
                 from /var/tmp/saiga/src/saiga/core/geometry/triangle_mesh_generator.h:13,
                 from /var/tmp/saiga/samples/vision/datasetViewer/DatasetViewer.h:11,
                 from /var/tmp/saiga/samples/vision/datasetViewer/DatasetViewer.cpp:9:
/usr/include/c++/8/bits/unique_ptr.h:842:5: note: candidate: ‘template<class _Tp, class ... _Args> typename std::_MakeUniq<_Tp>::__invalid_type std::make_unique(_Args&& ...)’ <deleted>
     make_unique(_Args&&...) = delete;
     ^~~~~~~~~~~
/usr/include/c++/8/bits/unique_ptr.h:842:5: note:   template argument deduction/substitution failed:
/var/tmp/saiga/samples/vision/datasetViewer/DatasetViewer.cpp:142:62: error: template argument 1 is invalid
         stereocamera = std::make_unique<EuRoCDataset>(dparams);
                                                              ^
/var/tmp/saiga/samples/vision/datasetViewer/DatasetViewer.cpp:146:22: error: ‘EuRoCDataset’ is not a class, namespace, or enumeration
         cameraType = EuRoCDataset::FrameType::cameraType;
                      ^~~~~~~~~~~~

The pathes in the generated config.ini are incorrect when running a vulkan application. The current work around is to run an OpenGL application first.